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Nonholonomic path planning of space robots via bi-directional approach

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2 Author(s)
Nakamura, Y. ; Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA ; Mukherjee, R.

The nonholonomic path planning of space robot systems is discussed. A space vehicle with a 6-DOF (degree of freedom) manipulator is described as a nine-variable system with six inputs. Utilizing the nonholonomic nature, the vehicle orientation can be controlled in addition to the joint variables of the manipulator by actuating only the joint variables, if the trajectory is carefully planned. A path-planning method of nonholonomic motion is developed using a Lyapunov function

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990

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